cmake_minimum_required(VERSION 3.0.2)
project(contnav_global_planner)


# catkin make取消显示warning ， catktin_make 编译时去除控制台的警方
add_definitions(-w)

## Compile as C++11, supported in ROS Kinetic and newer
#add_compile_options(-std=c++11)
#add_compile_options(-MMD -MP )
#add_compile_options(-std=c++11 )
#add_compile_options(-std=c++14 )

#CXXFLAGS += -MMD -MP
#CXXFLAGS += -std=c++11

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rosmsg
  rospy
        #contnav_msgs #把有关这个消息的代码都注释了，我代码中没有整理；也没把中文注释，日志功能 数据库功能等无用代码去除，需要去除这些代码。
        contnav_srvs
        #actionlib_msgs

        #geometry_msgs
        #std_msgs
        tf
        ##------pcl------------
        sensor_msgs
        #pcl_ros
        #pcl_conversions
        std_srvs
        tf2_geometry_msgs
        tf2_ros
        tf2
        actionlib
        move_base_msgs
        dynamic_reconfigure
        geometry_msgs
        nav_msgs
        costmap_2d
        base_local_planner
        clear_costmap_recovery
        cmake_modules
        message_generation
        nav_core
        nav_msgs
        navfn
        rotate_recovery
        visualization_msgs
        mbf_msgs
       # flexbe_behavior_engine #状态机
       # smach_ros
       # smach
)
generate_dynamic_reconfigure_options(
        cfg/ContnavGlobalPlanner.cfg
)
# sudo apt-get install libboost-all-dev
#find_package(Boost REQUIRED)

#find_package(flexbe_core REQUIRED)
##在 CMakeLists.txt 中，catkin_package 是用来指定 ROS 软件包的基本信息的函数，用于告诉 catkin 构建系统关于 ROS 软件包的一些信息，比如软件包的名称、版本号、作者、描述、依赖关系等等。
##如果不写 catkin_package，则 catkin 构建系统将无法正确地生成和安装包，导致软件包的构建和安装无法成功。因此，catkin_package 是一个必需的函数。
##catkin_package 与 find_package 没有直接的联系，它们是两个不同的函数，用于不同的目的。find_package 用于查找系统安装的外部依赖库，而 catkin_package 则用于描述 ROS 软件包自身的信息，以便 catkin 构建系统进行构建和安装。


#if (POLICY CMP0072)
    #set(OpenGL_GL_PREFERENCE LEGACY)
    #set(OpenGL_GL_PREFERENCE GLVND)

#endif()

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
#find_package(SQLite3 REQUIRED)
## System dependencies are found with CMake's conventions  报错以及相关boost问题 https://blog.csdn.net/qq_43111963/article/details/117869259 ||cmake与boost版本不兼容[1] https://stackoverflow.com/questions/65560775/cmake-new-boost-version-may-have-incorrect-or-missing-dependencies-and-importe
#find_package(PCL REQUIRED QUIET)

# OpenCV
#find_package(OpenCV REQUIRED QUIET)
#find_package(Eigen3 REQUIRED QUIET)

#find_package(MPI REQUIRED)
#find_package(Threads REQUIRED)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()



################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
#catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES contNav
#  CATKIN_DEPENDS roscpp rosmsg rospy
#  DEPENDS system_lib
#)


catkin_package(
        #  INCLUDE_DIRS include
        #  LIBRARIES visualOrientation
        #  CATKIN_DEPENDS roscpp rosmsg rospy flexbe_behavior_engine
      #  CATKIN_DEPENDS roscpp rosmsg rospy smach_ros smach



        #  DEPENDS system_lib
        #CATKIN_DEPENDS geometry_msgs roscpp rosmsg rospy  tf
       # CATKIN_DEPENDS geometry_msgs roscpp rosmsg rospy  tf
)
###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
   include
  ${catkin_INCLUDE_DIRS}
        /usr/include/mysql
        /usr/local/include
        #${PCL_INCLUDE_DIRS}
        #${OpenCV_INCLUDE_DIRS}
        #  /usr/include/eigen3
        #/usr/local/include/opencv4
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/contNav.cpp
# )


add_subdirectory(src/common)
include_directories(./src/common)


## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure

# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide src/sqlite/CppSQLite3.cpp
##========================test=============================================
add_executable(test_contnav_contnav_global_planner_node src/test/test.cpp)
add_executable(testSqlite_contnav_contnav_global_planner_node src/test/testSqlite.cpp )
add_executable(testMysql_contnav_contnav_global_planner_node src/test/testMysql.cpp)
add_executable(testParse_contnav_contnav_global_planner_node src/test/testParse.cpp)
add_executable(testLog_contnav_contnav_global_planner_node src/test/testLog.cpp)
add_executable(test1_contnav_contnav_global_planner_node src/test/test1.cpp)
add_executable(test2_contnav_contnav_global_planner_node src/test/test2.cpp)
add_executable(test3_contnav_contnav_global_planner_node src/test/test3.cpp)


#add_executable(my_behavior_node src/test/my_behavior_node.cpp)
#add_executable(simple_state_machine_node src/test/smach_test1.cpp)
#add_executable(navigation_state_test2_machine src/test/smach_test2.cpp)
#add_executable(navigation_state_test3_machine src/test/state_machine_test3.cpp)
#add_executable(navigation_test4_demo src/test/state_machine_test4.cpp)
#add_executable(navigation_test5_demo src/test/move_base_flex_test5.cpp)
#add_executable(navigation_test6_demo src/test/move_base_flex_test6.cpp)
#add_executable(navigation_test8_demo src/test/move_base_flex_test8.cpp)
#add_executable(navigation_test11_demo src/test/move_base_flex_test11.cpp)
#add_executable(navigation_test13_demo src/test/TaskManager_test13.cpp)
#add_executable(navigation_test14_demo src/test/TaskManager_test14.cpp)
##---
target_link_libraries(test_contnav_contnav_global_planner_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
target_link_libraries(testSqlite_contnav_contnav_global_planner_node   ${catkin_LIBRARIES} contnav_contnav_global_planner_common_node )
target_link_libraries(testMysql_contnav_contnav_global_planner_node   ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
target_link_libraries(testParse_contnav_contnav_global_planner_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
target_link_libraries(testLog_contnav_contnav_global_planner_node   ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
target_link_libraries(test1_contnav_contnav_global_planner_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
target_link_libraries(test2_contnav_contnav_global_planner_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
target_link_libraries(test3_contnav_contnav_global_planner_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
#target_link_libraries(my_behavior_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
#target_link_libraries(simple_state_machine_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node) #状态机
#target_link_libraries(navigation_state_test2_machine  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)#状态机
#target_link_libraries(navigation_state_test3_machine  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)#
#target_link_libraries(navigation_test4_demo  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)#
#target_link_libraries(navigation_test5_demo  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
#target_link_libraries(navigation_test6_demo  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
#target_link_libraries(navigation_test8_demo  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
#target_link_libraries(navigation_test11_demo  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
#target_link_libraries(navigation_test13_demo  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
#target_link_libraries(navigation_test14_demo  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)

##============================================================================##

###########################################################################

file(GLOB SOURCES_CPP "src/currency/*.cpp")
#message("==============susuusu===============: ${SOURCES_web}")
add_executable(contnav_global_planner_node  ${SOURCES_CPP})
target_link_libraries(contnav_global_planner_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
########################################################################

add_executable(contnav_moveAction_node  src/moveAction/moveAction.cpp)
target_link_libraries(contnav_moveAction_node  ${catkin_LIBRARIES}  contnav_contnav_global_planner_common_node)
#########################################################################


## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against




#target_link_libraries(scan_to_pointcloud2_converter_node  ${catkin_LIBRARIES}   )



#####



#############






## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_contNav.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
